/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
 * Modified function input and used only some functions
 **/

#pragma once
#include <string>
#include "curve1d.h"
#include "path_struct.h"
class ConstantJerkTrajectory1d : public Curve1d
{
public:
    ConstantJerkTrajectory1d(const double p0, const double v0, const double a0,
                             const double jerk, const double param);

    virtual ~ConstantJerkTrajectory1d() = default;

    double Evaluate(const std::uint32_t order, const double param) const;

    double ParamLength() const;

    std::string ToString() const;

    double start_position() const;

    double start_velocity() const;

    double start_acceleration() const;

    double end_position() const;

    double end_velocity() const;

    double end_acceleration() const;

    double jerk() const;

private:
    double p0_;
    double v0_;
    double a0_;

    double p1_;
    double v1_;
    double a1_;

    double param_;

    double jerk_;
};